Assume a stiffness control for a single degree of freedom as follows. Environment Assume manipulator is...
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Assume a stiffness control for a single degree of freedom as follows. Environment Assume manipulator is in contact with environment whose position is x. Derive the control law to make Xa= Xe Where: Xe: the actual position. X: the instantons position. Xa: the desired position. fe: the force acting on environment. f: the input force. Assume a stiffness control for a single degree of freedom as follows. Environment Assume manipulator is in contact with environment whose position is x. Derive the control law to make Xa= Xe Where: Xe: the actual position. X: the instantons position. Xa: the desired position. fe: the force acting on environment. f: the input force.
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